Unified ILC framework for repeating and varying tasks : a frequency domain approach with application to a wire-bonder

F.A.J. Boeren, A. Bareja, T. Kok, T.A.E. Oomen

Research output: Chapter in Book/Report/Conference proceedingConference contributionAcademicpeer-review

4 Citations (Scopus)
4 Downloads (Pure)

Abstract

Iterative learning control (ILC) enables high performance for exactly repeating tasks in motion systems. Many motion systems also perform slightly varying tasks during normal operation. The achieved performance with ILC algorithms can significantly deteriorate in such cases. The aim of this paper is to develop a new framework based on frequency-domain ILC that achieves high performance for both repeating and varying tasks. The proposed ILC framework achieves high machine performance for motion systems, while relying on straightforward loop-shaping based design methods for both performance and robustness. Furthermore, basis functions are used to cope with variations in tasks. An experimental validation on a high-speed axis of an industrial wire-bonder is presented to show that high performance is obtained for both repeating and varying tasks.
Original languageEnglish
Title of host publication54th IEEE Conference on Decision and Control, December 15-18, 2015, Osaka, Japan
Place of PublicationPiscataway
PublisherInstitute of Electrical and Electronics Engineers
Pages6724-6729
ISBN (Electronic)978-1-4799-7886-1
ISBN (Print)978-1-4799-7884-7
DOIs
Publication statusPublished - 2015
Event54th IEEE Conference on Decision and Control (CDC 2015) - "Osaka International Convention Center", Osaka, Japan
Duration: 15 Dec 201518 Dec 2015
Conference number: 54
http://www.cdc2015.ctrl.titech.ac.jp/

Conference

Conference54th IEEE Conference on Decision and Control (CDC 2015)
Abbreviated titleCDC 2015
CountryJapan
CityOsaka
Period15/12/1518/12/15
Internet address

Fingerprint Dive into the research topics of 'Unified ILC framework for repeating and varying tasks : a frequency domain approach with application to a wire-bonder'. Together they form a unique fingerprint.

  • Cite this

    Boeren, F. A. J., Bareja, A., Kok, T., & Oomen, T. A. E. (2015). Unified ILC framework for repeating and varying tasks : a frequency domain approach with application to a wire-bonder. In 54th IEEE Conference on Decision and Control, December 15-18, 2015, Osaka, Japan (pp. 6724-6729). Institute of Electrical and Electronics Engineers. https://doi.org/10.1109/CDC.2015.7403278